目前在做一个项目使用到了 RT-Thread 操作系统,这里就记录一下在使用过程中的一些学习记录。
任何操作系统中,都需要提供一个时钟节拍(OS Tick),它是操作系统中最小的时间单位,供系统处理所有和时间有关的事件,如线程的延时、线程的时间片轮转调度以及定时器超时等。
以 RT-Thread 为例,在创建任务时,需要配置一个时间片:
/**
* @brief This function will create a thread object and allocate thread object memory.
* and stack.
*
* @param tick is the time slice if there are same priority thread.
*/
rt_thread_t rt_thread_create(const char *name,
void (*entry)(void *parameter),
void *parameter,
rt_uint32_t stack_size,
rt_uint8_t priority,
rt_uint32_t tick)
线程延时函数的实现,也需要依赖系统节拍:
/**
* @brief This function will let current thread delay for some milliseconds.
*
* @param ms is the delay ms time.
*
* @return Return the operation status. If the return value is RT_EOK, the function is successfully executed.
* If the return value is any other values, it means this operation failed.
*/
rt_err_t rt_thread_mdelay(rt_int32_t ms)
{
rt_tick_t tick;
tick = rt_tick_from_millisecond(ms);
return rt_thread_sleep(tick);
}
RTM_EXPORT(rt_thread_mdelay);
时钟节拍是特定的周期性中断,这个中断可以看做是系统心跳,中断时间间隔取决于不同的应用,一般是 1ms–100ms,时钟节拍率越快,系统的额外开销就越大,从系统启动开始计数的时钟节拍数称为系统时间。
在 RT-Thread 中,时钟节拍的长度可以根据宏 RT_TICK_PER_SECOND
的定义来调整,该宏定义在头文件 rtconfig.h
中,一个时钟节拍等于 1/RT_TICK_PER_SECOND
秒。默认的 RT_TICK_PER_SECOND
为 100,即一秒会产生 100 个 tick,每个 tick 为 10ms。
/* RT-Thread Kernel */
#define RT_TICK_PER_SECOND 100
时钟节拍由配置为中断触发模式 的硬件定时器 产生,当中断到来时,将调用一次 rt_tick_increase()
函数,通知操作系统已经过去一个系统时钟,不同的硬件定时器中断实现都不同,下面的中断函数以 STM32 定时器作为示例:
/**
* This is the timer interrupt service routine.
*/
void SysTick_Handler(void)
{
/* enter interrupt */
rt_interrupt_enter();
HAL_IncTick();
rt_tick_increase();
/* leave interrupt */
rt_interrupt_leave();
}
其中 rt_tick_increase()
函数实现对全局变量 rt_tick
的自加,该函数定义在 clock.c
中,程序如下所示:
/**
* @brief This function will notify kernel there is one tick passed.
* Normally, this function is invoked by clock ISR.
*/
void rt_tick_increase(void)
{
struct rt_thread *thread;
rt_base_t level;
RT_OBJECT_HOOK_CALL(rt_tick_hook, ());
level = rt_hw_interrupt_disable();
/* increase the global tick */
#ifdef RT_USING_SMP
rt_cpu_self()->tick ++;
#else
++ rt_tick;
#endif /* RT_USING_SMP */
/* check time slice */
thread = rt_thread_self();
-- thread->remaining_tick;
if (thread->remaining_tick == 0)
{
/* change to initialized tick */
thread->remaining_tick = thread->init_tick;
thread->stat |= RT_THREAD_STAT_YIELD;
rt_hw_interrupt_enable(level);
rt_schedule();
}
else
{
rt_hw_interrupt_enable(level);
}
/* check timer */
rt_timer_check();
}
通过 rt_tick_t rt_tick_get(void)
函数可获取当前的系统节拍,可用于记录系统的当前运行时间,该函数定义在 clock.c
中,程序如下所示:
/**
* @brief This function will return current tick from operating system startup.
*
* @return Return current tick.
*/
rt_tick_t rt_tick_get(void)
{
/* return the global tick */
return rt_tick;
}
RTM_EXPORT(rt_tick_get);
可通过 void rt_tick_set(rt_tick_t tick)
函数设定当前系统的 tick 值,该函数定义在 clock.c
中,程序如下所示:
/**
* @brief This function will set current tick.
*
* @param tick is the value that you will set.
*/
void rt_tick_set(rt_tick_t tick)
{
rt_base_t level;
level = rt_hw_interrupt_disable();
rt_tick = tick;
rt_hw_interrupt_enable(level);
}
在 clock.c
中还定义了一个 rt_tick_get_millisecond
虚函数,通过该函数可获取当前系统运行的毫秒数,建议在 RT_TICK_PER_SECOND
为 1000 时使用,程序如下:
/**
* @brief This function will return the passed millisecond from boot.
*
* @note if the value of RT_TICK_PER_SECOND is lower than 1000 or
* is not an integral multiple of 1000, this function will not
* provide the correct 1ms-based tick.
*
* @return Return passed millisecond from boot.
*/
RT_WEAK rt_tick_t rt_tick_get_millisecond(void)
{
#if 1000 % RT_TICK_PER_SECOND == 0u
return rt_tick_get() * (1000u / RT_TICK_PER_SECOND);
#else
#warning "rt-thread cannot provide a correct 1ms-based tick any longer,\
please redefine this function in another file by using a high-precision hard-timer."
return 0;
#endif /* 1000 % RT_TICK_PER_SECOND == 0u */
}
可以使用 rt_tick_get_millisecond
函数通过以下方式计算某个任务的耗时时间:
{
rt_tick_t start,end;
start = rt_tick_get_millisecond();
function_to_get_time();
end = rt_tick_get_millisecond();
rt_kprintf("The time consumed is %d ms. \n", end - start);
}
参考来源:RT-Thread